# validated: 2018-01-01 EN 40eb6dfc9b83 edu/wpi/first/wpilibj/IterativeRobotBase.java
# ----------------------------------------------------------------------------
# Copyright (c) 2017 FIRST. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
# ----------------------------------------------------------------------------
import enum
import logging
import hal
from .livewindow import LiveWindow
from .smartdashboard import SmartDashboard
from .robotbase import RobotBase
__all__ = ["IterativeRobotBase"]
[docs]class IterativeRobotBase(RobotBase):
"""IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase
class.
The IterativeRobotBase class does not implement startCompetition(), so it should not be used
by teams directly.
This class provides the following functions which are called by the main loop,
startCompetition(), at the appropriate times:
robotInit() -- provide for initialization at robot power-on
init() functions -- each of the following functions is called once when the
appropriate mode is entered:
- disabledInit() -- called only when first disabled
- autonomousInit() -- called each and every time autonomous is entered from
another mode
- teleopInit() -- called each and every time teleop is entered from
another mode
- testInit() -- called each and every time test is entered from
another mode
periodic() functions -- each of these functions is called on an interval:
- robotPeriodic()
- disabledPeriodic()
- autonomousPeriodic()
- teleopPeriodic()
- testPeriodic()
"""
[docs] class Mode(enum.Enum):
kNone = 0
kDisabled = 1
kAutonomous = 2
kTeleop = 3
kTest = 4
#: A python logging object that you can use to send messages to the log. It
#: is recommended to use this instead of print statements.
logger = logging.getLogger("robot")
# ----------- Overridable initialization code -----------------
def __init__(self):
self.last_mode = self.Mode.kNone
super().__init__()
[docs] def robotInit(self):
"""Robot-wide initialization code should go here.
Users should override this method for default Robot-wide initialization
which will be called when the robot is first powered on. It will be
called exactly 1 time.
.. note:: It is simpler to override this function instead of defining
a constructor for your robot class
"""
self.logger.info("Default IterativeRobot.robotInit() method... Overload me!")
[docs] def disabledInit(self):
"""Initialization code for disabled mode should go here.
Users should override this method for initialization code which will be
called each time the robot enters disabled mode.
"""
self.logger.info("Default IterativeRobot.disabledInit() method... Overload me!")
[docs] def autonomousInit(self):
"""Initialization code for autonomous mode should go here.
Users should override this method for initialization code which will be
called each time the robot enters autonomous mode.
"""
self.logger.info("Default IterativeRobot.autonomousInit() method... Overload me!")
[docs] def teleopInit(self):
"""Initialization code for teleop mode should go here.
Users should override this method for initialization code which will be
called each time the robot enters teleop mode.
"""
self.logger.info("Default IterativeRobot.teleopInit() method... Overload me!")
[docs] def testInit(self):
"""Initialization code for test mode should go here.
Users should override this method for initialization code which will be
called each time the robot enters test mode.
"""
self.logger.info("Default IterativeRobot.testInit() method... Overload me!")
# ----------- Overridable periodic code -----------------
[docs] def robotPeriodic(self):
"""Periodic code for all robot modes should go here."""
func = self.robotPeriodic.__func__
if not hasattr(func, "firstRun"):
self.logger.info("Default IterativeRobot.robotPeriodic() method... Overload me!")
func.firstRun = False
[docs] def disabledPeriodic(self):
"""Periodic code for disabled mode should go here."""
func = self.disabledPeriodic.__func__
if not hasattr(func, "firstRun"):
self.logger.info("Default IterativeRobot.disabledPeriodic() method... Overload me!")
func.firstRun = False
[docs] def autonomousPeriodic(self):
"""Periodic code for autonomous mode should go here."""
func = self.autonomousPeriodic.__func__
if not hasattr(func, "firstRun"):
self.logger.info("Default IterativeRobot.autonomousPeriodic() method... Overload me!")
func.firstRun = False
[docs] def teleopPeriodic(self):
"""Periodic code for teleop mode should go here."""
func = self.teleopPeriodic.__func__
if not hasattr(func, "firstRun"):
self.logger.warn("Default IterativeRobot.teleopPeriodic() method... Overload me!")
func.firstRun = False
[docs] def testPeriodic(self):
"""Periodic code for test mode should go here."""
func = self.testPeriodic.__func__
if not hasattr(func, "firstRun"):
self.logger.info("Default IterativeRobot.testPeriodic() method... Overload me!")
func.firstRun = False
[docs] def loopFunc(self):
"""Call the appropriate function depending upon the current robot mode"""
if self.isDisabled():
if self.last_mode is not self.Mode.kDisabled:
LiveWindow.setEnabled(False)
self.disabledInit()
self.last_mode = self.Mode.kDisabled
hal.observeUserProgramDisabled()
self.disabledPeriodic()
elif self.isAutonomous():
if self.last_mode is not self.Mode.kAutonomous:
LiveWindow.setEnabled(False)
self.autonomousInit()
self.last_mode = self.Mode.kAutonomous
hal.observeUserProgramAutonomous()
self.autonomousPeriodic()
elif self.isOperatorControl():
if self.last_mode is not self.Mode.kTeleop:
LiveWindow.setEnabled(False)
self.teleopInit()
self.last_mode = self.Mode.kTeleop
hal.observeUserProgramTeleop()
self.teleopPeriodic()
else:
if self.last_mode is not self.Mode.kTest:
LiveWindow.setEnabled(False)
self.testInit()
self.last_mode = self.Mode.kTest
hal.observeUserProgramTest()
self.testPeriodic()
self.robotPeriodic()
SmartDashboard.updateValues()
LiveWindow.updateValues()